论文标题
乌尔姆大学自动化车辆的道路运动计划
On-Road Motion Planning for Automated Vehicles at Ulm University
论文作者
论文摘要
ULM大学的测量，控制和微技术研究所研究了数十年的高级驾驶员援助系统，并在自主驾驶方面很大程度上集中精力。众所周知，运动计划是自动驾驶的关键技术。首先是对车辆乘客的安全以及所有周围交通参与者的安全。但是，进一步的任务包括提供平稳舒适的驾驶行为。在乌尔姆（Ulm），我们有很感激的机会在公共交通和多元化场景中的真实条件下测试我们的算法。在本文中，我们想为读者提供有关我们作品，车辆，测试轨道以及相关问题，挑战和解决方案的见解。因此，我们将描述运动计划系统并解释实施的功能。此外，我们将展示我们的车辆如何在公共道路交通中移动，以及如何处理诸如E.G.通过回旋处和交叉路口开车。
The Institute of Measurement, Control and Microtechnology at Ulm University investigates advanced driver assistance systems for decades and concentrates in large parts on autonomous driving. It is well known that motion planning is a key technology for autonomous driving. It is first and foremost responsible for the safety of the vehicle passengers as well as of all surrounding traffic participants. However, a further task consists in providing a smooth and comfortable driving behavior. In Ulm, we have the grateful opportunity to test our algorithms under real conditions in public traffic and diversified scenarios. In this paper, we would like to give the readers an insight of our work, about the vehicle, the test track, as well as of the related problems, challenges and solutions. Therefore, we will describe the motion planning system and explain the implemented functionalities. Furthermore, we will show how our vehicle moves through public road traffic and how it deals with challenging scenarios like e.g. driving through roundabouts and intersections.
